Industrial robot

Abstract

A positioning apparatus for positioning an arm of an industrial robot comprises a frame member connected to the robot arm and being movably supported by a frame-supporting member. The frame-supporting member is movably mounted within an upstanding hollow sleeve of a stationary base, and a bearing is formed between an outer peripheral surface portion of the frame-supporting member and an inner peripheral surface portion of the base hollow sleeve portion for slidably mounting the frame-supporting member to undergo linear and angular sliding movements relative to the base hollow sleeve portion. A rotary motor effects angular driving movement of the frame-supporting member, and a linear motor effects linear movement of the frame-supporting member to thereby accurately position the robot arm. By such a construction, the frame-supporting member is mounted for angular and linear sliding movements relative to the base hollow sleeve portion by a single bearing.

We claim: 
     
       1. A positioning apparatus for use in positioning an arm of an industrial robot in angular and linear positions comprising: a frame member connectable to an arm of an industrial robot during use of the positioning apparatus; a frame-supporting member connected to and supporting the frame member; a base having an upstanding hollow sleeve portion; means mounting the frame-supporting member within the base hollow sleeve portion to undergo linear movement and angular movement, said means including bearing means between an outer peripheral surface portion of the frame-supporting member and an inner peripheral surface portion of the base hollow sleeve portion for slidably mounting the frame-supporting member to undergo linear and angular sliding movements; linear drive means for effecting linear driving movement of the frame-supporting member; and angular drive means for effecting angular driving movement of the frame-supporting member. 
     
     
       2. A positioning apparatus according to claim 1; wherein the angular drive means includes means for effecting angular driving movement of the frame member to thereby effect angular driving movement of the frame-supporting member. 
     
     
       3. A positioning apparatus according to claim 2; wherein the angular drive means comprises a plate member mounted to undergo angular movement about an outer peripheral surface portion of the base hollow sleeve portion, means connecting the plate member to the frame member so that angular movement of the plate member effects angular movement of the frame and frame-supporting members, and a drive motor connected to angularly drive the plate member. 
     
     
       4. A positioning apparatus according to claim 3; wherein the drive motor comprises an electric motor. 
     
     
       5. A positioning apparatus according to claim 3; wherein the drive motor comprises a fluid motor. 
     
     
       6. A positioning apparatus according to claim 1; wherein the linear and angular drive means include electric motors. 
     
     
       7. A positioning apparatus according to claim 1; wherein the linear and angular drive means include fluid motors.